Danfoss VLT AutomationDrive FC 360 User guide

Brand: Danfoss

Model: VLT AutomationDrive FC 360

Type: User guide

ENGINEERING TOMORROW

Programming Guide

PROFINET

VLT

AutomationDrive FC 360

vlt-drives.danfoss.com

Contents

1 Introduction

1.1 Purpose of the Manual

1.2 Additional Resources

1.3 Document and Software Version

1.4 Product Overview

1.5 Approvals and Certications

1.6 Symbols, Abbreviations, and Conventions

2 Safety

2.1 Safety Symbols

2.2 Qualied Personnel

2.3 Safety Precautions

3 Conguration

3.1 Congure the PROFINET Network

3.2 Congure the Controller

3.3 Congure the Frequency Converter

4 Control

4.1 PPO Types

4.2 Process Data

4.3 Control Prole

4.4 PROFIdrive Control Prole

4.5 FC Drive Control Prole

5 Acyclic Communication (DP-V1)

5.1 Features of an IO Controller System

5.2 Features of an IO Supervisor System

5.3 Addressing Scheme

5.4 Acyclic Read/Write Request Sequence

5.5 Data Structure in the Acyclic Telegrams

5.6 Header

5.7 Parameter Block

5.8 Data Block

6 Parameters

6.1 Parameter Group 0-** Operation/Display

6.2 Parameter Group 8-** Communication and Option

6.3 Parameter Group 9-** PROFIdrive

6.4 Parameter Group 12-** Ethernet

6.5 PROFINET-specic Parameters

Contents Programming Guide

6.6 Supported Object and Data Types

7 Application Examples

7.1 Example: Process Data with PPO Type 6

7.2 Example: Control Word Telegram Using Standard Telegram 1/PPO3

7.3 Example: Status Word Telegram Using Standard Telegram 1/PPO3

7.4 Example: PLC Programming

7.5 Example: PLC and Network Monitoring

8 Troubleshooting

8.1 No Response to Control Signals

8.2 Warnings and Alarms

8.2.1 Warning/Alarm Messages 52

Index

Contents PROFINET

1 Introduction

1.1 Purpose of the Manual

The PROFINET Programming Guide provides information

about conguring the system, controlling the frequency

converter, accessing parameters, programming, trouble-

shooting, and some typical application examples.

The programming guide is intended for use by qualied

personnel, who are familiar with the VLT

frequency

converters, PROFINET technology, and the PC or PLC that is

used as a master in the system.

Read the instructions before programming and follow the

procedures in this manual.

VLT

is a registered trademark.

1.2 Additional Resources

Resources available for the frequency converter and

optional equipment are:

•

The VLT® AutomationDrive FC 360 Quick Guide

provides the necessary information for getting

the frequency converter up and running.

•

The VLT® AutomationDrive FC 360 Design Guide

provides detailed information about capabilities

and functionality to design motor control

systems.

•

The VLT® AutomationDrive FC 360 Programming

Guide provides more details on working with

parameters and many application examples.

Supplementary publications and manuals are available

from Danfoss. See drives.danfoss.com/knowledge-center/

technical-documentation/ for listings.

1.3

Document and Software Version

This manual is regularly reviewed and updated. All

suggestions for improvement are welcome. Table 1.1 shows

the document version and the corresponding software

version. The rmware version of the PROFINET interface

can be read in parameter 15-61 Option SW Version.

Edition Remarks

Software

version

MG06G1xx The rst edition of this manual. 3.0x

Table 1.1 Document and Software Version

1.4

Product Overview

This programming guide relates to PROFINET interface for

VLT

AutomationDrive FC 360.

The PROFINET interface is designed to communicate with

any system complying with the PROFINET schema version

2.2 and 2.3 standards.

Since the introduction in 2001, PROFINET has been

updated to handle low and medium performance

requirements supported by PROFINET RT up to high-end

servo performance in PROFINET IRT. PROFINET is the

Ethernet-based eldbus oering and is the most scalable

and versatile technology today.

PROFINET provides the network tools to deploy standard

Ethernet technology for manufacturing applications while

enabling Internet and enterprise connectivity.

The PROFINET control cassette is intended for use with

VLT

AutomationDrive FC 360.

Terminology

In this manual, several terms for Ethernet are used.

•

PROFINET is the term used to describe the

PROFINET protocol.

•

Ethernet is a common term used to describe the

physical layer of the network, and does not relate

to the application protocol.

Introduction Programming Guide

1 1

1.5 Approvals and Certications

More approvals and certications are available. For more

information, contact a local Danfoss partner.

1.6 Symbols, Abbreviations, and

Conventions

Abbreviation Denition

CC Control card

CTW Control word

DCP Discovery and conguration protocol

DHCP Dynamic host conguration protocol

EMC Electromagnetic compatibility

GSDML General station description mark-up language

I/O Input/output

IP Internet protocol

IRT Isochronous real time

LCP Local control panel

LED Light emitting diode

LSB Least signicant bit

MAV Main actual value (actual speed)

MSB Most signicant bit

MRV Main reference value

PC Personal computer

PCD Process control data

PLC Programmable logic controller

PNU Parameter number

PPO Process parameter object

REF Reference (= MRV)

RT Real time

STW Status word

Table 1.2 Symbols and Abbreviations

Conventions

Numbered lists indicate procedures.

Bullet lists indicate other information and description of

illustrations.

Italicized text indicates:

•

Cross reference.

•

Link.

•

Parameter name.

•

Parameter group.

•

Parameter option.

Introduction PROFINET

2 Safety

2.1 Safety Symbols

The following symbols are used in this guide:

WARNING

Indicates a potentially hazardous situation that could

result in death or serious injury.

CAUTION

Indicates a potentially hazardous situation that could

result in minor or moderate injury. It can also be used to

alert against unsafe practices.

NOTICE

Indicates important information, including situations that

can result in damage to equipment or property.

2.2 Qualied Personnel

Correct and reliable transport, storage, installation,

operation, and maintenance are required for the trouble-

free and safe operation of the frequency converter. Only

qualied personnel are allowed to install or operate this

equipment.

Qualied personnel are dened as trained sta, who are

authorized to install, commission, and maintain equipment,

systems, and circuits in accordance with pertinent laws and

regulations. Additionally, the qualied personnel must be

familiar with the instructions and safety measures

described in this document.

2.3

Safety Precautions

WARNING

HIGH VOLTAGE

Frequency converters contain high voltage when

connected to AC mains input, DC supply, or load sharing.

Failure to perform installation, start-up, and maintenance

by qualied personnel can result in death or serious

injury.

•

Only qualied personnel must perform instal-

lation, start-up, and maintenance.

WARNING

UNINTENDED START

When the frequency converter is connected to AC mains,

DC supply, or load sharing, the motor can start at any

time. Unintended start during programming, service, or

repair work can result in death, serious injury, or

property damage. The motor can start with an external

switch, a eldbus command, an input reference signal

from the LCP or LOP, via remote operation using MCT 10

Set-up Software, or after a cleared fault condition.

To prevent unintended motor start:

•

Press [O/Reset] on the LCP before

programming parameters.

•

Disconnect the frequency converter from the

mains.

•

Completely wire and assemble the frequency

converter, motor, and any driven equipment

before connecting the frequency converter to

AC mains, DC supply, or load sharing.

WARNING

DISCHARGE TIME

The frequency converter contains DC-link capacitors,

which can remain charged even when the frequency

converter is not powered. High voltage can be present

even when the warning LED indicator lights are o.

Failure to wait the specied time after power has been

removed before performing service or repair work can

result in death or serious injury.

•

Stop the motor.

•

Disconnect AC mains and remote DC-link

supplies, including battery back-ups, UPS, and

DC-link connections to other frequency

converters.

•

Disconnect or lock PM motor.

•

Wait for the capacitors to discharge fully. The

minimum waiting time is specied in the

chapter Safety in the operating guide supplied

with the frequency converter.

•

Before performing any service or repair work,

use an appropriate voltage measuring device to

make sure that the capacitors are fully

discharged.

Safety Programming Guide

2 2

WARNING

LEAKAGE CURRENT HAZARD

Leakage currents exceed 3.5 mA. Failure to ground the

frequency converter properly can result in death or

serious injury.

•

Ensure the correct grounding of the equipment

by a certied electrical installer.

WARNING

EQUIPMENT HAZARD

Contact with rotating shafts and electrical equipment

can result in death or serious injury.

•

Ensure that only trained and qualied personnel

perform installation, start-up, and maintenance.

•

Ensure that electrical work conforms to national

and local electrical codes.

•

Follow the procedures in this document.

CAUTION

INTERNAL FAILURE HAZARD

An internal failure in the frequency converter can result

in serious injury when the frequency converter is not

properly closed.

•

Ensure that all safety covers are in place and

securely fastened before applying power.

Safety PROFINET

3 Conguration

3.1 Congure the PROFINET Network

Ensure that all PROFINET devices connected to the same

bus network have a unique station name (host name).

Set the PROFINET host name of the frequency converter

via parameter 12-08 Host Name.

3.2 Congure the Controller

3.2.1 GSDML File

To congure a PROFINET controller, the conguration tool

needs a GSDML le for each type of device on the

network. The GSDML le is a PROFINET xml le containing

the necessary communication set-up data for a device.

Download the latest version of GSDML le at

www.danfoss.com/BusinessAreas/DrivesSolutions/pronet. The

name of the GSDML le may dier from what is described

in this manual.

The following example shows how to congure the

controller.

Frequency converter GSDML le

VLT

AutomationDrive FC 360

GSDML-V2.3-Danfoss-

FC360-20151212.xml

Table 3.1 GSDML le

When conguring the PROFINET controller, the rst step is

to import the GSDML le in the conguration tool. The

following steps, outlined in Illustration 3.1, Illustration 3.2,

and Illustration 3.3, show how to add a new GSDML le to

the Simatic Manager software tool. For each frequency

converter, a GSDML le is typically imported once only,

following the initial installation of the software tool.

130BE934.10

Illustration 3.1 Import the GSDML File in the Conguration

Tool

130BE935.10

Illustration 3.2 Add a New GSDML File to the Simatic Manager

Software Tool

The GSDML le is now imported and is accessible via the

following path in the hardware catalog:

130BE936.10

Illustration 3.3 Path in the Hardware Catalog

Open a project, set up the hardware, and add a PROFINET

master system. Select Danfoss FC PN, then drag and drop

it onto the PROFINET IO system.

To enter the device name, open the properties for the

inserted frequency converter. See Illustration 3.4.

Conguration Programming Guide

3 3

130BE937.10

Illustration 3.4 Open the Properties for the Inserted

Frequency Converter to Enter the Device Name

NOTICE

The name must match the name in parameter 12-08 Host

Name. If the check mark Assign IP address via the IO

controller is set, the controller downloads the IP address

to the IO device with the corresponding device name.

The IP address is stored in the non-volatile memory of

the frequency converter.

130BE938.10

Illustration 3.5 Set Up the Hardware and Add a PROFINET

Master System

The next step is to set up the peripheral input and output

data. Data set-up in the peripheral area is transmitted

cyclically via telegrams/PPO types. In the example below, a

PPO type 6 is dragged and dropped to slot 1.

130BE939.10

Illustration 3.6 Set up the Peripheral Input and Output Data

The

conguration tool automatically assigns addresses in

the peripheral address area. In this example, the input and

output area have the following conguration:

PPO type 6

PCD word

number

0 1 2 3

Input

address

256–257 258–259 260–261 262–263

Set-up STW MAV

Parameter 9-16

PCD Read

Conguration

Parameter 9-16

PCD Read

Conguration

Table 3.2 PCD Read (Frequency Converter to PLC)

PCD word

number

0 1 2 3

Output

address

256–257 258–259 260–261 262–263

Set-up CTW MRV

Parameter 9-15

PCD Write

Conguration

Parameter 9-15

PCD Write

Conguration

Table 3.3 PCD Write (PLC to Frequency Converter)

Assign the PCDs via parameter 9-16 PCD Read Conguration

for inputs and parameter 9-15 PCD Write Conguration for

outputs.

Download the conguration le to the PLC. The PROFINET

system starts the data exchange when the PLC is set to

Run mode.

Conguration PROFINET

3.3 Congure the Frequency Converter

3.3.1 VLT Parameters

The following parameters are important when conguring

the frequency converter with a PROFINET interface:

•

Parameter 0-40 [Hand on] Key on LCP. If [Hand On]

is activated, control of the frequency converter

via the PROFINET interface is disabled.

•

After an initial power-up, the frequency converter

automatically detects whether a eldbus option is

installed in slot A and sets parameter 8-02 Control

Source to [Option A]. When an option is added,

changed, or removed from an already commis-

sioned frequency converter, it does not change

parameter 8-02 Control Source but enters Trip

mode, and the frequency converter shows an

error.

•

Parameter 8-10 Control Word Prole. Select

between the Danfoss frequency converter prole

and the PROFIdrive prole.

•

Parameter 8-50 Coasting Select to

parameter 8-58 Prodrive OFF3 Select. Select how

to gate PROFINET control commands with the

digital input command of the control card.

NOTICE

When parameter 8-01 Control Site is set to [2] Control

word only, the settings from parameter 8-50 Coasting

Select to parameter 8-58 Prodrive OFF3 Select are

overruled and only act on bus control.

Conguration Programming Guide

3 3

4 Control

4.1 PPO Types

The PROFINET prole for frequency converters species a

number of standard telegrams and provides space for

vendor-specic telegrams. The PROFIdrive prole for

frequency converters is suitable for data exchange

between a process controller (for example PLC) and a

frequency converter. All telegrams are dened for cyclic

data transfer of high-priority data.

Pure process data objects

PPO types 3, 4, 6, 7, and 8 are pure process data objects

for applications requiring no cyclic parameter access. The

PLC sends out process control data, and the frequency

converter then responds with a PPO of the same length,

containing process status data.

Illustration 4.1 shows the available PPO types:

•

PCD 1: The

rst 2 bytes of the process data area

(PCD 1) comprise a xed part present in all PPO

types.

•

PCD 2: The next 2 bytes are xed for PCD write

entries (see parameter 9-15 PCD Write Congu-

ration [1]), but congurable for PCD read entries

(see parameter 9-16 PCD Read Conguration [1]).

•

PCD 3–10: In the remaining bytes, the process

data can be parameterized with process signals,

see parameter 9-23 Parameters for Signals.

The setting in parameter 9-15 PCD Write Conguration

determines the signals for transmission (request) from the

master to the frequency converter.

The setting in parameter 9-16 PCD Read Conguration

determines the signals for transmission (response) from the

frequency converter to the master.

Select the PPO type in the master conguration. The

selection is automatically recorded in the frequency

converter. No manual setting of PPO types in the

frequency converter is required. Read the current PPO type

in parameter 9-22 Telegram Selection. The setting [1]

Standard telegram 1 is equivalent to PPO type 3.

In addition, all PPO types can be set up as word-consistent

or module-consistent. The process data area can be word-

consistent or module-consistent, whereas the parameter

channel must always be module-consistent.

•

Word-consistent data is transmitted as individual,

independent words between the PLC and the

frequency converter.

•

Module-consistent data is transmitted as sets of

interrelated words transferred simultaneously

between the PLC and the frequency converter.

Standard telegram

PPO 6

PPO 7

PPO 8

Danfoss telegram

(The old PPO type 3)

CTW/STW

REF/MAV

PCD 2

Read/

Write

PCD 3

Read/

Write

PCD 4

Read/

Write

PCD 5

Read/

Write

PPO 4

CTW/STW REF/MAV

PCD 2

Read/

Write

PCD 3

Read/

Write

CTW/STW

REF/MAV

PCD 2

Read/

Write

PCD 3

Read/

Write

PCD 4

Read/

Write

PCD 5

Read/

Write

PCD 6

Read/

Write

PCD 7

Read/

Write

PCD 8

Read/

Write

PCD 9

Read/

Write

CTW/STW REF/MAV

PCD 2

Read/

Write

PCD 3

Read/

Write

PCD 4

Read/

Write

PCD 5

Read/

Write

PCD 6

Read/

Write

PCD 7

Read/

Write

CTW/STW REF/MAV

PPO 3

130BE941.10

Illustration 4.1 Available PPO Types

Control PROFINET

4.2 Process Data

Use the process data part of the PPO to control and

monitor the frequency converter via the PROFINET.

4.2.1 PCD

Control word (CTW) according to PROFIdrive prole:

Control words consist of 16 bits. The meaning of each bit

is explained in and . The following bit pattern sets all

necessary start commands:

0000 0100 0111 1111 = 047F hex.

0000 0100 0111 1110 = 047E hex.

0000 0100 0111 1111 = 047F hex.

1) For restart after power-up:

•

Set bits 1 and 2 of the CTW to 1.

•

Toggle bit 0 0–1.

These values are for bytes 9 and 10 in Table 4.1.

Quick stop: 0000 0100 0110 1111 = 046F hex.

Stop: 0000 0100 0011 1111 = 043F hex.

4.2.2 MRV

MRV is the speed reference with data format Standardized

value. 0 hex = 0% and 4000 hex = 100%.

In the example, 2000 hex is used corresponding to 50% of

the maximum frequency in parameter 3-03 Maximum

Reference. See the values for bytes 11 and 12 in Table 4.1.

The whole PPO therefore has the following values in hex:

Byte Value

PCD

CTW 9 04

CTW 10 7F

MRV 11 20

MVR 12 00

Table 4.1 Request Example: PPO Values in Hex

The process data within the PCD part acts immediately

upon the frequency converter and can be updated from

the master as quickly as possible.

Table 4.2 shows a positive response to the request example

from Table 4.1.

Byte Value

PCD

STW 9 0F

STW 10 07

MAV 11 20

MAR 12 00

Table 4.2 Response Example: Positive Response

The PCD part responds according to the state and parame-

terization of the frequency converter.

PCD part response:

•

STW: 0F07 hex means that the motor is running

and there are no warnings or faults.

•

MAV: 2000 hex indicates that the output

frequency is 50% of the maximum reference.

Table 4.3 shows a negative response to the request

example from Table 4.1.

Byte Value

PCD

STW 9 0F

STW 10 07

MAV 11 20

MAR 12 00

Table 4.3 Response Example: Negative Response

4.2.3 Process Control Data

Process control data (PCD) is the process data sent from

the PLC to the frequency converter.

Master/slave

1 2 3 ....... 10

CTW MRV PCD ....... PCD

PCD write

Table 4.4 Process Control Data

PCD 1 contains a 16-bit control word, and each bit controls

a specic function of the frequency converter. See

chapter 4.3 Control Prole.

PCD 2 contains a 16-bit speed setpoint in percentage

format. See chapter 4.2.5 Reference Handling.

The settings in parameter 9-15 PCD Write Conguration and

parameter 9-16 PCD Read Conguration dene the content

of PCD 3 to PCD 10.

Control Programming Guide

4 4

4.2.4 Process Status Data

Process status data is the process data sent from the

frequency converter and contains information about the

current state.

Slave/master

1 2 3 ...... 10

STW MAV PCD ...... PCD

PCD read

Table 4.5 Process Status Data

PCD 1 contains a 16-bit status word, and each bit contains

information regarding a possible state of the frequency

converter.

PCD 2 contains each default value of the frequency

converter’s current speed in percentage format (see

chapter 4.2.5 Reference Handling). PCD 2 can be congured

to contain other process signals.

The settings in parameter 9-16 PCD Read Conguration

dene the content of PCD 3–10.

4.2.5 Reference Handling

The reference handling is an advanced mechanism that

sums up references from dierent sources as shown in

Illustration 4.2.

For more information on reference handling, refer to the

frequency converter’s design guide.

Illustration 4.2 Reference

The reference or speed setpoint is sent via PROFINET and

is always transmitted to the frequency converter in

percentage format as integers shown in hexadecimal (0–

4000 hex).

The reference (MRV) and feedback (MAV) are always scaled

equally. The setting of parameter 3-00 Reference Range

determines the scaling of the reference and feedback

(MAV), see Illustration 4.3.

-100%

(C000 hex)

(0 hex)

100%

(4000 hex)

P 3-00 set to

[1] -Max to +Max

P 3-03

Max reference

0 P 3-03

Max reference

(0 hex)

100%

(4000 hex)

P 3-00 set to

[0] Min - Max

P 3-02

Min reference

P 3-03

Max reference

130BA198.10

Illustration 4.3 Reference (MRV) and Feedback (MAV), Scaled

NOTICE

When parameter 3-00 Reference Range is set to [0] Min -

Max, a negative reference is handled as 0%.

The actual output of the frequency converter is limited by

the speed limit parameters Motor Low/High Speed Limit

[RPM/Hz] in parameter 4-11 Motor Speed Low Limit [RPM] to

parameter 4-14 Motor Speed High Limit [Hz].

The nal speed limit is set in parameter 4-19 Max Output

Frequency.

Table 4.6 lists the reference (MRV) and the feedback (MAV)

formats.

MRV/MAV Integer in hex Integer in decimal

100% 4000 16384

75% 3000 12288

50% 2000 8192

25% 1000 4096

0% 0 0

-25% F000 -4096

-50% E000 -8192

-75% D000 -12288

-100% C000 -16384

Table 4.6 Reference/Feedback (MRV/MAV) Format

NOTICE

Negative numbers are formed as complement of 2.

NOTICE

The data type for MRV and MAV is an N2 16-bit

standardized value, expressing a range from -200% to

+200% (8001 to 7FFF).

Control PROFINET

Example

The following settings determine the speed as shown in

Table 4.7:

•

Parameter 1-00 Conguration Mode set to [0]

Speed open loop.

•

Parameter 3-00 Reference Range set to [0] Min-Max.

•

Parameter 3-02 Minimum Reference set to 0 Hz.

•

Parameter 3-03 Maximum Reference set to 50 Hz.

MRV/MAV Actual speed [Hz]

0% 0 hex 0

25% 1000 hex 12.5

50% 2000 hex 25

75% 3000 hex 37.5

100% 4000 hex 50

Table 4.7 Actual Speed for MRV/MAV

4.2.6 Process Control Operation

In process control operation, parameter 1-00 Conguration

Mode is set to [3] Process.

The reference range in parameter 3-00 Reference Range is

always [0] Min - Max.

•

MRV is the process setpoint.

•

MAV expresses the actual process feedback (range

±200%).

4.2.7 Inuence of the Digital Input

Terminals on FC Control Mode

In parameter 8-50 Coasting Select to

parameter 8-58 Prodrive OFF3 Select, set the inuence of

the digital input terminals on the control of the frequency

converter.

NOTICE

The setting of parameter 8-01 Control Site overrules the

settings in parameter 8-50 Coasting Select to

parameter 8-58 Prodrive OFF3 Select.

Program each of the digital input signals to logic AND,

logic OR, or to have no relation to the corresponding bit in

the control word. In this way, the following signal sources

initiate a specic control command, for example stop/

coast:

•

Fieldbus only.

•

Fieldbus AND digital input.

•

Either eldbus OR digital input terminal.

NOTICE

To control the frequency converter via PROFINET, set

parameter 8-50 Coasting Select to either [1] Bus or [2]

Logic AND. Then set parameter 8-01 Control Site to [0]

Digital and ctrl.word or [2] Controlword only.

For more detailed information and examples of logical

relationship options, see chapter 8 Troubleshooting.

4.3 Control Prole

Control the frequency converter according to:

•

The PROFIdrive prole, see chapter 4.4 PROFIdrive

Control Prole, or

•

The Danfoss FC control, see chapter 4.5 FC Drive

Control Prole.

Select the control prole in parameter 8-10 Control Word

Prole. The choice of prole aects the control word and

status word only.

Chapter 4.4 PROFIdrive Control Prole and chapter 4.5 FC

Drive Control Prole provide a detailed description of

control and status data.

Control Programming Guide

4 4

4.4 PROFIdrive Control Prole

This section describes the functionality of the control word

and status word in the PROFIdrive prole.

4.4.1 Control Word According to

PROFIdrive Prole (CTW)

The control word is used to send commands from a master

(for example a PC) to a slave.

Bit Bit = 0 Bit = 1

00 OFF 1 ON 1

01 OFF 2 ON 2

02 OFF 3 ON 3

03 Coasting No coasting

04 Quick stop Ramp

05 Hold frequency output Use ramp

06 Ramp stop Start

07 No function Reset

08 Jog 1 OFF Jog 1 ON

09 Jog 2 OFF Jog 2 ON

10 Data invalid Data valid

11 No function Slow down

12 No function Catch up

13 Parameter set-up Selection lsb

14 No function No function

15 Forward Reverse

Table 4.8 Control Word Bits

Explanation of the control bits

Bit 00, OFF 1/ON 1

Normal ramp stops using the ramp times of the actual

selected ramp.

Bit 00 = 0 stops and activates the output relay 1 or 2 if the

output frequency is 0 Hz, and if [31] Relay 123 is selected

in parameter 5-40 Function Relay.

When bit 0 = 1, the frequency converter is in state 1,

switching on inhibited.

Refer to Illustration 4.4.

Bit 01, OFF 2/ON 2

Coast stop.

Bit 01 = 0 coast stops and activates the output relay 1 or 2

if the output frequency is 0 Hz, and if [31] Relay 123 is

selected in parameter 5-40 Function Relay.

When bit 01 = 1, the frequency converter is in state 1,

switching on inhibited. Refer to Illustration 4.4.

Bit 02, OFF 3/ON 3

Quick stop using the ramp time of parameter 3-81 Quick

Stop Ramp Time.

Bit 02 = 0 quick stops and activates the output relay 1 or 2

if the output frequency is 0 Hz, and if [31] Relay 123 is

selected in parameter 5-40 Function Relay.

When bit 02 = 1, the frequency converter is in state 1,

switching on inhibited.

Refer to Illustration 4.4.

Bit 03, coasting/no coasting

Bit 03 = 0 leads to a coast stop.

When bit 03 = 1, if the other start conditions are fullled,

the frequency converter can start.

NOTICE

The selection in parameter 8-50 Coasting Select

determines how bit 03 is linked with the corresponding

function of the digital inputs.

Bit 04, quick stop/ramp

Quick stop using the ramp time of parameter 3-81 Quick

Stop Ramp Time.

When bit 04 = 0, a quick stop occurs.

When bit 04 = 1, if the other start conditions are fullled,

the frequency converter can start.

NOTICE

The selection in parameter 8-51 Quick Stop Select

determines how bit 04 is linked with the corresponding

function of the digital inputs.

Bit 05, hold frequency output/use ramp

When bit 05 = 0, the present output frequency is

maintained, even if the reference value is modied.

When bit 05 = 1, the frequency converter can perform its

regulating function again according to the respective

reference value.

Bit 06, ramp stop/start

Normal ramp stop using the ramp times of the actual

ramp selected. In addition, if [31] Relay 123 is selected in

parameter 5-40 Function Relay, and if the output frequency

is 0 Hz, this bit activates output relay 01 or 04.

Bit 06 = 0 stops the frequency converter.

When bit 06 = 1, if the other start conditions are fullled,

the frequency converter can start.

NOTICE

The selection in parameter 8-53 Start Select determines

how bit 06 is linked with the corresponding function of

the digital inputs.

Bit 07, no function/reset

Reset after switching o. Acknowledges event in fault

buer.

When bit 07 = 0, no reset occurs.

When there is a slope change of bit 07 to 1, a reset occurs

after switching o.

Bit 08, jog 1 OFF/ON

Activation of the pre-programmed speed in

parameter 8-90 Bus Jog 1 Speed. Jog 1 is only possible if bit

04 = 0 and bits 00–03 = 1.

Bit 09, jog 2 OFF/ON

Activation of the pre-programmed speed in

parameter 8-91 Bus Jog 2 Speed. Jog 2 is only possible if bit

04 = 0 and bits 00–03 = 1.

Control PROFINET

Bit 10, data invalid/valid

Tells the frequency converter whether to use or ignore the

control word.

Bit 10 = 0 ignores the control word, making it possible to

turn o the control word when updating/reading

parameters.

Bit 10 = 1 uses the control word. This function is relevant

because the control word is always contained in the

telegram, regardless of which type of telegram is used.

Bit 11, no function/slow down

Used to reduce the speed reference value by the amount

given in parameter 3-12 Catch up/slow Down Value.

When bit 11 = 0, no modication of the reference value

occurs.

When bit 11 = 1, the reference value is reduced.

Bit 12, no function/catch up

Used to increase the speed reference value by the amount

given in parameter 3-12 Catch up/slow Down Value.

When bit 12 = 0, no modication of the reference value

occurs.

When bit 12 = 1, the reference value is increased.

If both slowing down and accelerating are activated (bits

11 and 12 = 1), slowing down has priority, and the speed

reference value is reduced.

Bits 13, set-up selection

Bits 13 is used to select between the 2 parameter set-ups

according to Table 4.9.

The function is only possible if [9] Multi Set-up has been

selected in parameter 0-10 Active Set-up. The selection in

parameter 8-55 Set-up Select determines how bit 13 is

linked with the corresponding function of the digital

inputs. Changing set-up while the frequency converter is

running is only possible if the set-ups have been linked in

parameter 0-12 This Set-up Linked to.

Set-up Bit 13

1 0

2 1

Table 4.9 Parameter Set-ups

Bit 14, not used

Bit 15, no function/reverse

Bit 15 = 0 causes no reversing.

Bit 15 = 1 causes reversing.

NOTICE

In the factory setting, reversing is set to [0] Digital in

parameter 8-54 Reversing Select.

NOTICE

Bit 15 causes reversing only when Ser. communication,

Logic or, or Logic and is selected.

4.4.2 Status Word According to PROFIdrive

Prole (STW)

The status word is used to notify a master (for example a

PC) about the status of a slave.

Bit Bit = 0 Bit = 1

00 Control not ready Control ready

Frequency converter

not ready

Frequency converter ready

02 Coasting Enable

03 No error Trip

04 OFF 2 ON 2

05 OFF 3 ON 3

06 Start possible Start not possible

07 No warning Warning

Speed ≠ reference

Speed = reference

09 Local operation Bus control

10 Out of frequency limit Frequency limit ok

11 No operation In operation

Frequency converter

Stopped, auto-start

13 Voltage OK Voltage exceeded

14 Torque OK Torque exceeded

15 Thermal OK Limit exceeded

Table 4.10 Status Word Bits

Explanation of the status bits

Bit 00, control not ready/ready

When bit 00 = 0, bit 00, 01, or 02 of the control word is 0

(OFF 1, OFF 2, or OFF 3) - or the frequency converter is

switched

o (tripped).

When bit 00 = 1, the frequency converter control is ready,

but power is not necessarily supplied to the unit (in case

of a 24 V external supply of the control system).

Bit 01, VLT not ready/ready

Same signicance as bit 00, however, power is supplied to

the unit. The frequency converter is ready when it receives

the necessary start signals.

Bit 02, coasting/enable

When bit 02 = 0, bit 00, 01, or 02 of the control word is 0

(OFF 1, OFF 2, OFF 3, or coasting) - or the frequency

converter is switched o (trip).

When bit 02 = 1, bit 00, 01, or 02 of the control word is 1,

and the frequency converter has not tripped.

Bit 03, no error/trip

When bit 03 = 0, no error condition exists in the frequency

converter.

When bit 03 = 1, the frequency converter has tripped and

requires a reset signal before it can start.

Bit 04, ON 2/OFF 2

When bit 01 of the control word is 0, bit 04 = 0.

When bit 01 of the control word is 1, bit 04 = 1.

Control Programming Guide

4 4

Bit 05, ON 3/OFF 3

When bit 02 of the control word is 0, bit 05 = 0.

When bit 02 of the control word is 1, bit 05 = 1.

Bit 06, start possible/start not possible

If [1] PROFIdrive has been selected in

parameter 8-10 Control Word Prole, bit 06 is 1 after a

switch-o acknowledgement, after activation of OFF2 or

OFF3, and after switching on the mains voltage. To reset

Start not possible, set bit 00 of the control word to 0, and

bits 01, 02, and 10 to 1.

Bit 07, no warning/warning

Bit 07 = 0 means that there are no warnings.

Bit 07 = 1 means that a warning has occurred.

Bit 08, speed ≠ reference/speed = reference

When bit 08 = 0, the current speed of the motor deviates

from the set speed reference value. The deviation may

occur, for example, when the speed is being changed

during start/stop through ramp up/down.

When bit 08 = 1, the current speed of the motor

corresponds to the set speed reference value.

Bit 09, local operation/bus control

Bit 09 = 0 indicates that the frequency converter has been

stopped with [Stop] on the LCP, or that [0] Linked to hand

or [2] Local has been selected in parameter 3-13 Reference

Site.

When bit 09 = 1, the frequency converter can be

controlled through the serial interface.

Bit 10, out of frequency limit/frequency limit OK

When bit 10 = 0, the output frequency is outside the limits

set in parameter 4-52 Warning Speed Low and

parameter 4-53 Warning Speed High.

When bit 10 = 1, the output frequency is within the

indicated limits.

Bit 11, no operation/operation

When bit 11 = 0, the motor does not turn.

When bit 11 = 1, the frequency converter has a start

signal, or the output frequency is higher than 0 Hz.

Bit 12, drive OK/stopped, auto-start

When bit 12 = 0, there is no temporary overload of the

inverter.

When bit 12 = 1, the frequency converter has stopped due

to overload. However, the frequency converter has not

switched o (tripped) and starts again after the overload

has ended.

Bit 13, voltage OK/voltage exceeded

When bit 13 = 0, the voltage limits of the frequency

converter are not exceeded.

When bit 13 = 1, the direct voltage in the DC link of the

frequency converter is too low or too high.

Bit 14, torque OK/torque exceeded

When bit 14 = 0, the motor torque is below the limit

selected in parameter 4-16 Torque Limit Motor Mode and

parameter 4-17 Torque Limit Generator Mode.

When bit 14 = 1, the limit selected in

parameter 4-16 Torque Limit Motor Mode or

parameter 4-17 Torque Limit Generator Mode is exceeded.

Bit 15, thermal OK/limit exceeded

When bit 15 = 0, the timers for the motor thermal

protection and thermal frequency converter protection

have not exceeded 100%.

When bit 15 = 1, one of the limits has exceeded 100%.

Control PROFINET

4.4.3 PROFIdrive State Transition Diagram

In the PROFIdrive control prole, the control bits:

•

0–3 perform the basic start-up/power-down functions.

•

4–15 perform application-oriented control.

Illustration 4.4 shows the basic state transition diagram where control bits 0–3 control the transitions, and the corresponding

status bit indicates the actual state. The black bullets indicate the priority of the control signals where fewer bullets indicate

lower priority, and more bullets indicate higher priority.

130BD806.10

Pulses

Disabled

Coast Stop

STW bit 1=false

Quick Stop

STW bit 2=false

OFF

STW bit 0=false

STW bit 0=true

Ramp Stop

Quick Stop

STW bit 2=false

S3: Switching ON inhibited

STW bit 6=true; 0, 1, 2=false

OFF

AND No Coast Stop

AND No Quick Stop

STW bit 0=false

AND bit 1=true

AND bit 2=true

Coast Stop

OR Quick Stop

STW bit 1=false

OR bit 2=false

Coast Stop

OR Quick Stop

STW bit 1=false

OR bit 2=false

Coast Stop

STW bit 1=false

Enable

Operation

STW bit 3=true

1st priority

2nd priority

3rd priority

Disable

Operation

STW bit 3=false

STW bit 0=true

OFF

STW bit 0=true

Pulses

Disabled

S2: Ready For Switching ON

STW bit 0=true; 1, 2, 6=false

S5: Switching

OFF

STW bit 0, 1=true

bit 2, 6=false

S3: Switched ON

STW bit 0, 1=true; 2, 6=false

S4: Operation

STW bit 0, 1,2=true; 6=false

Illustration 4.4 PROFIdrive State Transition Diagram

Control Programming Guide

4 4

4.5 FC Drive Control Prole

4.5.1 Control Word According to FC Prole

(CTW)

To select Danfoss FC protocol in the control word, set

parameter 8-10 Control Word Prole to [0] FC prole. Use the

control word to send commands from a master (PLC or PC)

to a slave (frequency converter).

Bit Bit value = 0 Bit value = 1

00 Reference value External selection lsb

01 Reference value External selection msb

02 DC brake Ramp

03 Coasting No coasting

04 Quick stop Ramp

05 Hold output frequency Use ramp

06 Ramp stop Start

07 No function Reset

08 No function Jog

09 Ramp 1 Ramp 2

10 Data invalid Data valid

11 No function Relay 01 active

12 No function Relay 02 active

13 Parameter set-up Selection lsb

14 No function No function

15 Forward Reverse

Table 4.11 Bit Values for FC Control Word

Explanation of the control bits

Bits 00/01, reference value

Use bits 00 and 01 to select between the 4 reference

values, which are pre-programmed in parameter 3-10 Preset

Reference according to Table 4.12.

NOTICE

In parameter 8-56 Preset Reference Select, a selection is

made to dene how bit 00/01 gates with the

corresponding function on the digital inputs.

Bit

Programmed

reference value

Parameter

0 0 1 [0] Parameter 3-10 Preset Reference

0 1 2 [1] Parameter 3-10 Preset Reference

1 0 3 [2] Parameter 3-10 Preset Reference

1 1 4 [3] Parameter 3-10 Preset Reference

Table 4.12 Programmed Reference Values for Bits

Bit 02, DC brake

Bit 02 = 0 leads to DC braking and stop. Braking current

and duration are set in parameter 2-01 DC Brake Current

and parameter 2-02 DC Braking Time.

Bit 02 = 1 leads to ramping.

Bit 03, coasting

Bit 03 = 0 causes the frequency converter immediately to

coast the motor to a standstill.

Bit 03 = 1 enables the frequency converter to start the

motor if the other starting conditions have been fullled.

NOTICE

In parameter 8-50 Coasting Select, a selection is made to

dene how bit 03 gates with the corresponding function

on a digital input.

Bit 04, quick stop

Bit 04 = 0 quick stops the frequency converter and ramps

the motor speed down to stop via parameter 3-81 Quick

Stop Ramp Time.

Bit 04 = 1 makes the frequency converter ramp the motor

speed down to stop via parameter 3-42 Ramp 1 Ramp

Down Time or parameter 3-52 Ramp 2 Ramp Down Time.

Bit 05, hold output frequency

Bit 05 = 0 freezes the present output frequency (in Hz).

The frozen output frequency can only be changed with the

digital inputs (parameter 5-10 Terminal 18 Digital Input to

parameter 5-15 Terminal 33 Digital Input) programmed to

[21] Speed up and [22] Speed down.

Bit 05 = 1 uses ramp.

Bit 06, ramp stop/start

Bit 06 = 0 stops the frequency converter and the motor

speed ramps down to stop via the selected ramp-down

parameter.

Bit 06 = 1 allows the frequency converter to start the

motor if the other starting conditions have been fullled.

NOTICE

In parameter 8-53 Start Select, dene how bit 06 ramp

stop/start gates with the corresponding function on a

digital input.

Bit 07, reset

Bit 07 = 0 does not cause a reset.

Bit 07 = 1 resets a trip. Reset is activated on the signal’s

leading edge, that is, when changing from logic 0 to logic

Bit 08, jog

Bit 08 = 0, no function.

Bit 08 = 1, parameter 3-19 Jog Speed [RPM] determines the

output frequency.

Bit 09, selection of ramp 1/2

Bit 09 = 0, ramp 1 is active (parameter 3-40 Ramp 1 Type to

parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start).

Bit 09 = 1, ramp 2 is active (parameter 3-50 Ramp 2 Type to

parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start).

Control PROFINET

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Danfoss VLT AutomationDrive FC 360 User guide

Danfoss VLT AutomationDrive FC 360 User guide

Danfoss VLT AutomationDrive FC 360 User guide

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